CN104379062B - Time dissection target indicia in angiogram - Google Patents
Time dissection target indicia in angiogram Download PDFInfo
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- CN104379062B CN104379062B CN201380033014.7A CN201380033014A CN104379062B CN 104379062 B CN104379062 B CN 104379062B CN 201380033014 A CN201380033014 A CN 201380033014A CN 104379062 B CN104379062 B CN 104379062B
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Abstract
Image processing apparatus and method regard the stream (A) of preoperative benchmark image (OP) and angiographic image (A1 A3) as input.Based on multiple predefined area-of-interests (ROIa c) in the benchmark image (PO), the angiographic image of corresponding one being best shown at when displayed in the area-of-interest (ROIa c) is detected among the stream (A) of angiographic image (A1 A3).The angiographic image detected is associated with the area-of-interest to form associated data structures (DS).Generate user graphical interface (GUI), the user graphical interface allows to retrieve associated angiogram based on the associated data structures (DS) after any one in the user graphical interface (GUI) in the selection area-of-interest (ROIa c) of user.
Description
Technical field
The present invention relates to image processing apparatus, it is related to image processing method, is related to image processing system, is related to computer journey
Sequence unit and it is related to computer-readable medium.
Background technology
During intervening in the blood vessels, conduit is inserted into reach target or disposal area in the vascular system of patient, such as
So as to dispose support.This is completed generally under the control of fluoroscopy.Due to the poor visibility of blood vessel, it is possible to using special
Fixed conduit injects contrast agent.During angiogram, contrast agent propagates through vascular system with blood stream.Target anatomical structure
Visibility highest frame typically be chosen and then shown by live image.
However, in some interventions of such as endovascular aneurysm repair (EVAR), contrast agent is imparted into inspection target
Region be relatively distant from target region.
In addition, some anatomical region of interest spread at a distance are there may be during single intervention procedure, and institute
Stating anatomical region of interest needs to be screened during single angiographic procedure.Such as, it is from kidney that EVAR, which intervenes coverage,
Extensive region of the artery to femoral artery.In these conditions, it is necessary to select some frames to cover all target regions.
Described in the WO2010/0063389 of applicant a kind of for being selected using " fact " tip location of conduit
The method for selecting the frame of angiogram.
The content of the invention
Therefore a kind of device may be needed to help to navigate to angiogram.The purpose of the present invention will by independent right
The theme asked is solved, wherein, further embodiment is merged in the dependent claims.
It should be noted that each side of the following description of the present invention be equally applicable to image processing method, suitable for image at
Reason system, suitable for computer program element and suitable for computer-readable medium.
According to an aspect of the present invention there is provided a kind of image processing apparatus, described image processing unit includes：
Input block, it is used for the stream of receiving frame, the stream of the frame be a volume contrast agent propagation pass through it is interested
It is collected during target, contrast volume is by multiple semi-cylindrical hills (ROI) and as the contrast volume propagates logical
Cross the target and irrigate each corresponding ROI in the multiple ROI.
Registration unit, it is configured as multiple frames being registrated on preoperative reference image data collection, the reference map
Image set includes the segmentation to ROI；
Identifier, it is configured as each working as making at corresponding ROI to recognize in the multiple ROI
The concentration of shadow agent volume is higher than the prime frame collected during predefined threshold value.
Correlator, it is configured as each one corresponding in the prime frame identified in the multiple ROI is related
Connection, is consequently formed association ROI- frame data structures；And
Output unit, it is configured as generating user interface (UI) based on the associated data structures, and the UI works as quilt
Any one for allowing user to select in the ROI when on screen is shown in, the output unit is controlled in response to the selection
The screen is made to show the prime frame associated with the selected ROI, thus the user interface carries to the user
For use by the Time Navigation of the stream of the frame.
According to one embodiment, the stream or sequence of frame be the angiogram (" angios ") gathered by x-ray imaging device simultaneously
And at least one projection view including at least one in the ROI.In one embodiment, the ROI is regarded as pin
The part of the anatomical structure of the patient related to intervention, during the intervention, angiogram is collected.
In one embodiment, the frame at each ROI with the contrast concentration of highest or maximum is identified, and is labeled
For the prime frame and it is then forwarded to correlator.The contrast concentration threshold value and the image in corresponding image portion office
Contrast is directly related, and corresponding image section and the footprint of the ROI through perfusion in corresponding frame are corresponding.It is described
ROI footprints are with higher contrast (root compared with the image section of the border outer of the footprint of the plane of delineation of the frame
According to pixel value) it is prominent, so, depending on showing pixel value-gray-coded for being selected during the frame for the frame on screen
Or map, the ROI footprints generally seem more " dark " or brighter than described image part.Therefore in one embodiment, when
When there is enough contrast concentrations at corresponding area-of-interest, the identifier is adopted using pixel value threshold value to recognize
The frame collected.According to one embodiment, the threshold value is selected to cause described " master " frame to be identified, i.e., when corresponding
The acquisition frame when contrast concentration at ROI is substantially its maximum, therefore the region is illustrated as most dark or has
Optimum contrast compared with other frames in the string.Can be according to the mean pixel gray value ladder on the segment boundary
The evolution of average value or temporal average value of degree or grey scale pixel value by the closing of the frontier in the region is determined
The contrast threshold of adopted image section.
Segmented or through delineating ROI is the predefined image section of user in the benchmark image.So the base
Quasi- image carrys out " guidance " described correlator via its segmented ROI in its operation and sets up the data structure.In blood
The stream of pipe radiography is received foregoing description user artificially or via semi-automatic segmentation device to be influenceed in the benchmark image
The segmentation.In one embodiment, the area-of-interest is set by the automatic dispenser compatibly programmed.At one
In embodiment, including the reference image data collection of 3D or 2D segmentations is 3D CT or MR image volumes, the target it is described
3D CT or MR image volumes have been obtained to include the view of the ROI.However, in other examples, the base
Quasi- image can also be 2D images.The benchmark image is pre-operative image, in other words, and it is before the stream of collection angiogram
Gathered from the target.
The race of " part " timeline can be considered as by the image processor IP data structures produced, each for institute
State one in ROI.Each timeline is shown during angiogram to corresponding ROI's by means of associated frame
Utilize the perfusion of contrast agent.In one embodiment, also there is the length of a game's line produced according to the race of the timeline, its
In, including the set of the anatomical structure through perfusion of the ROI is associated with each frame, and can be according to the timeline
Race come calculate with corresponding anatomical structure be associated perfusion evolution curve.
According to one embodiment, the ROI that length of a game's line is with the pre-operative image data is concentrated is corresponding
Frame index and frame tagging between mapping.Them can be annotated using the corresponding dissection title of the ROI.Each frame rope
The set drawn with label is associated.Each label, which is referred to, to be poured or filled with those ROI of contrast agent, and the contrast agent has such as
The level specified by the contrast threshold on pixel intensity.In local time's top-stitching, each label with wherein by institute
The ROI for stating label reference is that visibility highest frame is associated, or with wherein contrast (or in the collection of the frame
Between when contrast agent concentration) frame index at least as specified set it is associated.
According to one embodiment, described device be configured as by by same " middle anatomical structure " include so as to
The data structure is extended, except the segmentation of the ROI, the segmentation of " the middle anatomical structure " also benchmark in the preoperative
In.
Described device provides " meaning of one's words " Time Navigation in the stream of the angiogram received to the user, because
Them can be specified to wish the dissection title of the ROI seen in the angiographic frames, i.e. institute in the user
State and associated frame is retrieved after label, the ROI has contrast agent by " most preferably " filling (perfusion).Fitted by automatically selecting background
When frame and make they be based on user require be it is available, described device can help it is described intervention during the process
The flow content of the frame is changed places navigation.The race of the data structure of generation, i.e., described length of a game's line and local time's top-stitching
It is used as the input of ensuing process step.
Real " fact " of the medical supply in situ of such as catheter tip need not be presented.Alternatively, as herein
The described device of proposition merely uses information in the image from the benchmark image to be obtained with the angiogram received
The data structure.The data structure of formation contributes to showing desired one in the ROI with enough contrasts
The retrieval of angiogram.
According to one embodiment, the identifier is configured as also recognizing before or after corresponding prime frame and gathered
The frame arrived, the correlator is configured as making an other frame phase corresponding with the ROI in a similar manner
Associate, thus the data structure records the timeline of contrast agent perfusion for each ROI.In other words, corresponding other frame
Record passes through volume by the contrast agent of corresponding area-of-interest.In this embodiment, the threshold value is so selected, with
It is still sufficiently high but unlike described as the concentration for also recognizing the contrast agent in such frame, i.e., wherein corresponding ROI
Prime frame is so high.The other frame is included contributing to retrieve into the data structure to the user shown in the ROI
The angiogram of the local evolution of the contrast concentration at one or more places of selection.
According to one embodiment, each association that the correlator is configured in the ROI is shown in the phase
The local curve of the evolution for the contrast concentration at ROI answered, the curve is corresponding based on the prime frame and other frame
Image information in sequence.
According to one embodiment, as the contrast agent propagation is by the target, and described device is with receiving
More angiograms update the data structure.
According to one embodiment, the UI of generation is to include the figure UI (GUI) of interactive button, each interactive button with it is described
Corresponding one in ROI is associated.Each button is with the dissection title for indicating corresponding ROI or the annotation of function.
According to one embodiment, the UI allows the user to be associated from switching one corresponding with the ROI
The prime frame and other frame, or switching selected with user's definable in the ROI in any one is associated
The prime frame and the other frame.
According to one embodiment, when can be by the way that each label be produced as into color bar to represent described on the GUI
Top-stitching.The color bar extends in the form of the frame index shown along the index of such frame, wherein, due in the phase
The amount of the contrast agent existed during the acquisition time for the frame answered, can be by with enough pairs by the index of corresponding label anatomical structure frame
Shown than degree.
The present invention can be used in X-ray cathlab system.
It should be appreciated that in certain embodiments, described image processor can be only to a ROI in the multiple ROI
Work, or only the user-defined sub- selection in the multiple ROI is worked, rather than in the multiple ROI
Each working in the ROI.In certain embodiments, preoperative benchmark can be only included with one for single ROI
The ROI of segmentation.In these embodiments, only for one ROI or for each in the ROI through sub- selection
For the prime frame and other frame recognized by identifier and be then respectively associated by correlator.Therefore the data structure
Only one of which association in extreme circumstances can be included or than the ROI's in multiple divided ROI in the benchmark image
The few association of quantity.
Definition
Angiogram (" angio ") be during X-ray image acquisition contrast agent reside in the blood vessel of the target and
Thus the 2D projected images for assigning the opacity of the blood vessel of the target and obtaining.Do not have in fluoroscopy 2D projected images
Contrast agent be resident, so when show fluoroscopy image when generally only have such as conduit medical supply (and other radiation
Opaque article, such as bone, rear musculature) it is visible, but can not differentiate blood when showing fluoroscopy image
Pipe soft tissue.
Convertibly use " visual angle " and " projecting direction " herein.
" mark " may refer to the title or label of the ROI in preoperative benchmark image or data.
" segmentation " or " delineating " convertibly is used herein, and " segmentation " or " delineating " is represented in such as benchmark image
ROI on influenceed by operator or by algorithm.These are delineated or split and are then fed in image processor.
Brief description of the drawings
The one exemplary embodiment of the present invention is described referring now to the following drawings, wherein：
Fig. 1 shows the block diagram of image processing system；
Fig. 2 shows the explanatory view of the anatomic region with contrast agent；
Fig. 3 shows the block diagram of the image processor in Fig. 1 system；
Fig. 4 is the flow chart of image processing method.
Embodiment
Fig. 1, which is shown, includes the image processing system of C-arm type x-ray imaging device 100.X-ray imaging device 100 is used in
With the x-ray projection image A1-A3 that catches target OB (such as patient) stream or sequence in intervention.In one embodiment, exist
Organ of interest in EVAR interventions is the pelvis area of patient.
Target OB or patient are placed on during intervening on inspection table.Imager 100 includes being fixed in the form of axle
Rigid C-arm structure on support.Axle journal allows C-arm to be rotated around by the first axle of axle journal.Therefore C-arm structure can be by
It is positioned at target OB multiple anglec of rotation α.C-arm can also rotate to take different return around the axle perpendicular to first axle
Gyration β, to cause C-arm to enjoy at least two frees degree.However, one of ordinary skill in the art would recognize that, the above to root
It is for illustrative purposes, and it will be appreciated that C-arm imaging geometry is matched somebody with somebody according to the sign of the C-arm free degree of angle α/β
The complete sign put is actual with more than two free degree.
C-arm 140 carries x-ray source X and at the other end with the space opposite with x-ray source X in its end
Relation carries detector S.Detector S includes the array (not shown) of detector monomer.
Launch X-ray from x-ray source X.X-ray is by target OB and is then detected at detector S.X-ray
Formed by X-ray beam p.
Each X-ray beam p decays when it is by target OB blood vessel and target assault target OB blood vessel.In detector S
What place was detected is the X-ray beam through decay.
The incidence angle (" projecting direction ") of X-ray beam impact blood vessel is to (α, β) by anglec of rotation α with convolution angle beta
Come what is defined.The degree for the decay that each independent X-ray beam p is undergone depends on the type and amount for the tissue that ray p passes through.
Each X-ray beam p through decay is impinged upon on detector monomer and is generated the telecommunications being inversely proportional with the degree of decay there
Number.The electric signal generated at each detector monomer for impinging x-ray beam p is then via data collecting system (not shown)
It is converted into the pixel value for being encoded corresponding gray value.The pixel value is subsequently stored in be formed with specific projection side
In the projected image matrix structure obtained to (α, β).Angle (α, β) formation potentially includes the imaging geometry configuration of other parameter
To specify the spatial relationship between beam and patient.It should be appreciated that angle different in the imager except C-arm imager or
Other amounts specify the projecting direction relative to patient.
Utilize independent projections image A1, A2, A3 substantially along different projecting direction collections and several for same imaging
Some angiograms what configuration is collected on the entirely given period, in IMAQ period or Jie to target OB
The stream A of acquired projections image during entering.The sequence A of projected image can then be stored on database (not shown) for
Retrieval later.Projected image A1-A3 can be stored in dicom format.DICOM format includes metadata, the metadata
The projected image collected projecting direction and its acquisition time are encoded for each projected image.
Blood vessel does not have radiation transparency, or the radiation transparency that may be significantly smaller than surrounding tissue, meaning in itself
The projection (" footprint ") that taste blood vessel is generally invisible in projected image A1-A3.In order to be remedied to this, C-arm into
Shortly before as the collection image of device 100, the contrast agent CA of a volume is imparted into patient via suitable contrast agent delivery device CAA
OB.Contrast agent little by little propagates through target OB blood vessel, and therefore assigns same radiopacity.Due to radiography
Agent, each projected image A1-A3 (also referred to as " angiogram ") is included along projecting direction or along blood vessel or device through perfusion
The projection view when obtaining corresponding image A1, A2 or A3 of the footprint of the part of official.
The angiogram A1-A3 gathered during the present invention stream A or sequence formation with intervention progress and with
The high-dimensional video data block for collecting increasing angiogram A1-A3 and gradually increasing.
Intervention can continue about 5 minutes, wherein, for abnormal intervention with about 3 frames it is per second and for Cardiac interventional with
Up to 15 frames are per second to gather independent frame A1-A3.Therefore frame A sum can be easily attained hundreds of frames even more than in flowing
1000 width image A1-A3.Described piece is multidimensional, because being included in the pixel grey scale at each position x, y per frame A1-A3
The two-dimensional image information and each image of value form are indexed by its imaging geometry configuration and its acquisition time.Substantially
On, the preset time during intervening gathers multiple frames with fixed imaging geometry position.
By human operator who from central computer console CC controls the operation of imager C-arm imager 100.Calculate
Machine operating desk CC includes the suitable actuating unit of such as game paddle, and the actuating unit allows operator to be adjusted during intervening
Save imaging geometry configuration.Computer console CC also allows (such as via the game paddle controller) operator's trigger exposure
To gather independent frame A1-A3.Computer console CC communicates with monitors M.Operating desk CC can also run permission in screen M
On check independent angiogram A1-A3 suitable reader software.Target OB is to be checked during being commonly included in intervention
Some different region of interest ROI a-ROIc.Example be to by access these region of interest ROI a-c in any one
Conduit introducing.
With reference to Fig. 2, the relatively large fraction of explanatory view of the anatomical structure on target OB is shown.Bestow before
The volume CA (" group's agent ") of contrast agent advance or propagate through blood vessel V and carry out one over time with the blood of flowing
It is individual to connect a ground by independent region of interest ROI a-c, it is thus any one in perfusion region of interest ROI a-c successively
It is individual.
Although group's agent is shown to have (avette) shape of definition in fig. 2, but it is to be understood that the group in practice
Agent will be spread on whole blood vessel and volume is carried out and scattered with the time.But for the period short enough and such as Fig. 2
Middle description, group's agent is considered the central area that the amount of mobile point or the contrast volume around it is concentrated.
As can be seen that by the volume contrast agent CA to the amount of the perfusion of each independent area-of-interest (ROIa-c) with
Time change.In other words, the contrast concentration curve in time at each place in ROIa-c positions is about bell curve,
When the contrast concentration at corresponding position ROIa-c has its maximum, the curve has its corresponding peak value.
Under some intervention situations and as schematically shown in Fig. 2, single angiogram A1-A3 can not show
Go out all region of interest ROI a-c being dispersed on relatively large anatomic region.Further, since the dynamic of group's agent, any
T=t at the time of single ROIa-c is perfused with contrast agent with maximum1、t2Or t3It is usually different, so wherein with most
High-contrast shows that the angiogram A1-3 of any one in ROIa-c is different.
Now, Fig. 1 is referred back to, image processing system also includes image processor IP, and image processor IP passes through automatically
Found from the stream A of angiogram and select those " master " frame MF among angiogram A1-A3, felt in " master " the frame MF
At least one in the ROIa-c of interest region is illustrated as the contrast agent filled with appropriate amount to allow with maximum contrast or extremely
It is few that area-of-interest is checked with the contrast higher than adjustable threshold, it can be measured according to pixel value in image described adjustable to define
Save threshold value.In at least one in region of interest ROI a-c prime frame is gathered when contrast concentration is in its maximum.
In other words, prime frame MF is the wherein corresponding most visible frames of ROIa-c when being checked, or by " most at corresponding ROI
Fill goodly " there is the frame gathered during contrast agent CA.
Image processor IP needs to obtain the stream A of angiogram as input during the stream A of angiogram during intervening
And obtain benchmark image PO.Target OB benchmark image PO can be MR the or CT 3D data volume productive sets collected before.With
It is considered as to be coded in group itself (such as DICOM metadata) to be configured in the specific imaging geometry for gathering the benchmark PO
In, or it can by from possess the suitable database retrieval of the information to.
Benchmark image PO automatically or by operator artificially " is marked " or is divided into some unique dissections before
The each expression of structure, the i.e. image section that can be separately addressed with defined border is the dissection of ROI or intermediate structure
Structure.Segmented anatomical structure includes region of interest ROI a-c, and potentially includes other anatomical structure.In a reality
Apply in example, each segmentation is noted as by marked index, the mark is translated into certainly after being found in anatomical database
The character string (the dissection title of such as anatomical structure) that right language illustrates, the projection footprints of the anatomical structure are divided by accordingly
Cut to represent.
In broad terms, device image processor IP, which is produced, can be referred to as the data structure of " ROI- frames " associated data structures
DS is used as output.In data structure DS, each region of interest ROI a-c with an agent by region of interest ROI a,
The selected works to angiogram gathered during ROIb or ROIc are associated.It is so related to region of interest ROI a, ROIb or ROIc
The selection to angiogram of connection includes the corresponding prime frame for region of interest ROI a, ROIb or ROIc.Therefore it is each
" the office of progress of the region of interest ROI a-c with showing the contrast agent CA concentration at corresponding position or region ROIa-c
Portion " timeline Ta-Tc is associated.
According to one embodiment, data structure DS can be expanded.In expanded data structure, the blood each arrived
Pipe radiography A1-A3 is associated with corresponding anatomical structure, and the anatomical structure is visibility in corresponding angiogram A1-A3
Maximum may not be still that visibility is maximum among the predefined region of interest ROI a-c according to benchmark image OP.
In other words, such expanded data structure is passed through blood vessel V in an agent and made while gathering blood vessel during an agent is passed through
Formed during shadow by " overall situation " timeline of the anatomical structure of continuous pouring.Therefore by an agent between predefined area-of-interest
The anatomical structure accessed during traveling can be included.In one embodiment, data structure can be remapped or be converted into
" frame-ROI " data structure, with cause now it be with corresponding frame by be shown with as before by identifier ID determine it is enough
Contrast the associated each frame of corresponding ROI or middle anatomical structures.
" anatomical structure adds those related structures are undesirably become during intervening in the middle of non-ROI " described in further contemplating
Plus flexibility.This also allows to consider the segmentation in pre-operative image, and described be segmented in is not intended to initially, but ought for example make
Split with full-automatic dividing device and be still generated during preoperative benchmark image.
Whether it is expanded, data structure can be then used for interactive graphical user by user interface controller UIC
Interface GUI carry out rear end support on screen M show, operator can easily be interacted using screen M with
Navigated by the stream of the angiogram collected.GUI for the intervention moment from the blood vessel received to maximally related making
The string A of shadow angiogram simple and intuitively retrieve.Related angiogram can be such a, i.e., most preferably show
Specific region of interest ROI a-c is gone out or setting may be selected in the user to those ROI.User be also an option that it is desired " in
Between " anatomical structure, group agent accessed in its traveling by the imaged blood vessel between region of interest ROI a-c described in " in
Between " anatomical structure.
According to one embodiment, the dissection identifier such as obtained from segmented benchmark image PO in data structure with phase
The frame answered is associated.Benchmark image PO can be taken as the dictionary of the anatomical structure in target OB, then the anatomical structure quilt
It is assigned to corresponding angiogram.
It should be appreciated that each independent angiogram can show more than one intermediate structure or area-of-interest
ROIa-c, therefore each independent angiogram can be assigned the identifier more than only one of which.
According to one embodiment, image processor in real time or " online " operation, so data structure DS is with the phase of intervention
Between collection angiogram stream and with image processor IP at reception angiogram stream and gradually build up.
But in another alternative " under line " embodiment, collection first is directed to all angiograms specifically intervened,
And then the complete stream is fed in image processor (IP).Only complete data structure be outputted as can use or
Person is forwarded to UIC.On-line implement example before is preferred, because it allows " in-flight " to handle and arrive faster
Follow-up " pipeline transmits (piping) " or feeding (real-time) in other image post processor.
In broad terms, image processor output data structure DS as collection of the angiogram through label time line Ta-c or
Race, every timeline represents how corresponding ROI is poured during intervening；Or with corresponding ROI or intermediate solution
Cut open the associated each corresponding angiogram of structure and export length of a game's line through perfusion together.The collection of timeline can by with
Make the navigational tool in GUI.Timeline or the frame using on the basis of timeline can also be forwarded as to other image processors
The input of (such as automatic delineation algorithms) is to calculate ROI border according to angiogram.Then the border so calculated can
With the superposition figure being used as in " fact " fluoroscopy image, the fluoroscopy image is displayed on difference during intervening
Monitor on and the silhouette of the conduit or guide line used in intervention is shown.Automatic contouring steps may be needed
The difference of actual boundary shown in the border for the ROI segmentations that consideration is projected and corresponding angiogram.
Operation
With reference to Fig. 3, the operation to image processor IP will be explained in further detail now.
Image processor IP is received via suitable input interface IU：I) there is annotated and divided anatomical structure
Benchmark image PO and ii) angiogram stream A.Anatomic region in benchmark pre-operative image PO with will during intervening
The region for the target OB being screened is corresponding.Assuming that the different anatomical structures of the region of interest ROI a-c including being intended to are to visit
Measure, therefore use contrast agent before may having required when recording the benchmark image.
Assuming that angiogram A configures the corresponding collection used when gathering each angiogram A1-A3 or imaging geometry
Coding is in angiogram A metadata.The angiographic imaging geometric configuration can also be by image processor IP from outside
Database (not shown) is retrieved respectively.The segmentation to preoperative benchmark PO is performed by dispenser S.Can by general-purpose algorithm come
The segmentation to the anatomical structure in preoperative benchmark image PO or mark are automatically or semi-automatically realized, so as to extract in 3D volumes
Recognizable anatomical structure.Then preoperative benchmark image PO is set up by aligner unit R U relative to x-ray imaging device 100
Reference frame position.In other words, each in 3D data volumes and angiogram is alignd along common coordinate reference system.The public affairs
Reference frame makes it possible to find the same solution delineated in each in whole 3D data volumes PO and angiogram altogether
Cut open corresponding " footprint " of structure.Registration is performed to angiogram A each frame, but can also be only to the choosing in angiogram
It is fixed several to perform registration.In embodiment, low-quality angiogram can be excluded from registration or can be arranged by priori
The angiogram for the data do not contain or related removed, therefore saves on the CPU time.
According to one embodiment, registration unit RU is come by using the one or several projections on blood vessels present radiography top
Set up the position of the 3D volume related to angiogram.For this purpose, in certain embodiments, exist in C-arm imaging
The extra fluoroscopy image gathered at the different C-arms of device 100.Registration unit RU exports rigidity for each angiogram
Or elasticity affine registration conversion, it is possible to use the affine registration, which becomes, brings realization to corresponding angiogram and reference map
Alignment as PO along common coordinate system.
It is corresponding in collection to set up that identifier ID carries out examination to each or angiogram selected works in angiogram
Where anatomical structure is partly poured during image.According to one embodiment, for each calculating contrast agent figure in angiogram.
In one embodiment, if it can be assumed that the motion of patient is not present during those frames are gathered, then relative to not showing
The baseline image of contrast sets up differential image pixel-by-pixel.But if there is patient motion, then it can use more advanced
Differential technique compensate the motion.Identifier ID is exported corresponding for each angiogram according to image pixel coordinates
The image section of the part of contrast agent perfusion is drawn in image.Setting gray threshold can be used to set up the blood through perfusion
Pipe radiography part.
Such as the registration transformation collection that is provided by registration unit RU and as recognized in the angiogram that is provided by identifier ID
What is gone out is then forwarded to correlator AS through perfusion part.For each angiogram, then corresponding registration transformation successively should
The segmented region of interest ROI a-c in benchmark image PO is used, thus the benchmark image PO is projected into what is considered
Corresponding angiogram through the plane of delineation that aligns.Then attempt to the corresponding ROIa-c so obtained throwing by correlator AS
Shadow footprint is matched with the image section in the corresponding angiogram such as recognized by identifier ID.If matching by with
Angiogram, then be correspondingly marked and be then associated with corresponding region of interest ROI a-c by standard.With association
Device is carried out in each angiogram of each segmentation of the region of interest ROI a-c for such as being recorded in benchmark image PO
Iteration, carrys out little by little to set up by this way data structure DS.Data structure DS can the array data type (example based on association
Such as it is referred to as " Hash (hash) " in Perl or is referred to as in C++ " mapping (maps) ").In one embodiment, once
Matching is registered, then the situation is by visual cues (such as the flicker control in user graphical interface (GUI)) or by by counting
The acoustic signal that calculation machine operating desk CC is sent is indicated to operator immediately.For the matching, setting gray scale threshold can be used
Value adjusts the responding ability of adaptation.By this way, not only prime frame be matched and with corresponding area-of-interest
ROIa-c is associated, and the interval collection angiogram before or after the acquisition time of prime frame is also matched simultaneously
And it is associated with corresponding region of interest ROI a-c.The length at the interval is the function of gray threshold.Once associated device
It is included in data structure, each prime frame MF is marked accordingly to facilitate retrieval later to it.Before or after prime frame
The adjacent frame of collection can by them relative to prime frame the acquisition time of acquisition time index.
As previously mentioned, according to one embodiment, correlator AS is configured to extend data structure DS so as to by centre
One corresponding with frame of anatomical structure is associated.Middle anatomical structure is not predefined in benchmark image PO in the preoperative
ROI splits those central.For this purpose, if correlator AS is configured as not by given angiogram with making a reservation for
The matching of any one registration in adopted region of interest ROI a-c, then operate inverse matching.In inverse matching, " mismatch " blood
In pipe radiography identify through perfusion part be projected in benchmark image PO, and attempt with except area-of-interest
ROIa-c anatomical structure matching.If finding matching, then by anatomical structure in the middle of the dissection and the non-region of interest
Domain is associated.By this way, each angiogram can be with the anatomical structure through perfusion when gathering the angiogram
It is associated.Can be iterated in this way with correlator on the stream A of the angiogram received with set up anatomical structure-
Frame extended data structure DS.No matter whether data structure DS is expanded, and then all makes data structure DS for user interface control
Device UIC can use, and then interface controller UIC in family can use the information to provide operational rear end for graphical user interface GUI.
Referring again to Fig. 1, the function of being undertaken by the graphical user interface GUI is explained in greater detail now.
In one embodiment, the section from benchmark image PO be illustrated as being superimposed with GUI interactive button Ba, Bb,
Bc background image, each interactive button refers to corresponding one in ROIa-c, or can include being directed to other by expectation
The other button of intermediate structure.It is the situation of touch-screen by the Pointer tool PT of such as computer mouse or in monitors M
Under by the actuating touched to any one in button Ba-c call UIC to retrieve being respectively associated of recording in data structure DS
Angiogram.Repeat the actuating to button Ba-c will allow prime frame and with corresponding region of interest ROI a, ROIb or
Switched on corresponding other frame associated ROIc.In one embodiment, also in the presence of for example passing through continuous mouse
Right click acts to select more than one button (such as Ba and Bb) option.To any one in selected button Ba, Bb
Actuating will then allow whole in prime frame and related to region of interest ROI a, ROIb by button Ba or button Bb references
Circulated or switched on the other frame of connection.In on-line implement example, the angiogram arrived in image processor processing
Flow and when have found corresponding prime frame, corresponding button Ba-c " will be jumped out ".In one embodiment, send and such as dodge
The notification signal of bright icon or other GUI controls or acoustic signal, so as to be notified for each region of interest ROI a-c
Through have found corresponding prime frame and device is now ready for retrieving corresponding prime frame.
According to one embodiment, button Ba-c includes the annotation AN for corresponding anatomical structure.
In one embodiment, button is formed corresponding as shown in the benchmark image PO currently shown section
The image section drawn out of area-of-interest.
In one embodiment, index button Ba-c is arranged to the interactive elements of form, and each interactive elements are with note
One in the annotation AN for the dissection title for releasing corresponding anatomical structure.After described button Ba, Bb, Bc are activated, Ke Yijian
The corresponding angiogram of rope is for being shown on screen M.
According to one embodiment, graphical user interface controller UIC is configured as above-mentioned by image processor
The optional section from benchmark image PO is generated in graphical user interface for being shown in before the calculating that IP is carried out.At this
In the embodiment of " on-demand computing ", button Ba-c, and one in button are shown for segmented area-of-interest
After individual actuating, corresponding segmentation is then fed in image processor IP, and by identifier ID and correlator AS only
Anatomical structure to the needs and the angiogram A thus received at image processor IP is performed described above
Calculate.In this embodiment, (one or more) are set up not in all predefined region of interest ROI a-c background
Data structure, but set up data structure DS and the only specific blood in user requires preoperative benchmark image OP as needed
Structure DS is updated the data after pipe radiography.
Show image processor IP part all on described image processor is resided in Fig. 3.However, this is
One exemplary embodiment.In other examples, some parts can be run in the framework of distribution and with suitable communication
Network connection.In one embodiment, part is run as the software thread on computer console CC.Part can also quilt
It is arranged as the individual chips of special FPGA or rigid line connection.Can be with suitable scientific computing platform (for exampleOr) program part and part then is converted into being retained in C++ or C threads in storehouse and when by image
Link member when reason device IP or computer console CC is called.
With reference to Fig. 4, the step of showing image processing method by means of flow chart.
In step S402, by the preoperative CT or MR images PO of the annotated image segmentation including region of interest ROI a-c
Received together with the stream A of the angiogram of arrival.
In step s 404, angiographic frames A1-3 or the selection to it are registered to region of interest ROI a-c's
On the preoperative benchmark image PO of segmentation.Registration includes being registrated on the reference frame of the x-ray imaging device used.
In step S406, the concentration for the contrast agent bestowed before identification to region of interest ROI a-c certainly is higher than
The footprint of region of interest ROI a-c in the multiple angiograms being collected during predefined threshold value.According to one embodiment,
This includes recognizing prime frame for each ROIa-c, wherein, contrast concentration has maximum when gathering corresponding prime frame；And
Depending on the threshold value selected by user is how high and frame that gathered in interval before and after being included in prime frame.Concentration threshold is straight
Connect related to the grey scale pixel value in image, and corresponding grey scale pixel value threshold value therefore can be used to determine prime frame.
In one embodiment, each angiogram is directed to when identification step S406 is included in collection corresponding angiogram
The middle anatomical structure through perfusion is detected, but the structure is not among predefined region of interest ROI a-c.Using making
The structure filling is obtained perfusion level how and depends on as more than being used for recognizing that the threshold value of area-of-interest is set by shadow agent.When
It is run with including " in the middle of non-ROI " during anatomical structure, step S406 is similar to the detection to region of interest ROI a-c.
In step S408, then by area-of-interest or their segmentation and the phase in their prime frame being identified
One answered is associated, and thus sets up the ROI- frame data structures of association.In one embodiment, the association is by by blood
The footprint identified in pipe angiogram frames matches to complete with the segmented ROI in preoperative benchmark image.
In one embodiment, corresponding ROI is also associated with the other frame gathered before or after the prime frame,
Therefore the collection of each ROI frames (including prime frame) for passing through corresponding ROI path with record agent is associated.
In one embodiment, it is also considered that into anatomical structure, and step S408 in the middle of non-ROI it is operation associated including
The footprint through irrigating region that will identify that and the annotated structure matchings of non-ROI in registered CT/MR pre-operative images.
And according to one embodiment with other frame, step S408 is returned through perfusion then for angiographic frames
The set of structure, described is ROI or intermediate structure through reperfusion structure；And/or for each structure or region of interest ROI a-c
Return to optimal infilled frame.
In step 410, generation and display image user interface on screen, the GUI include interactive button or permission
Any one or more other selection controls in user's selection region of interest ROI a-c or possible intermediate structures.Connect
After user selects, prime frame associated respectively is retrieved using associated data structures, and then shown on screen
The prime frame being associated respectively.
, can be by the associated data structures of generation in optional step 412 as the replacement or supplement to step S410
It is forwarded to other image post processors.
The above-mentioned threshold value for being used for setting up association is understood to what can be defined by user by setting variable, described
Variable allow user according to the need for them come custom-built system performance.
In one embodiment, system can be configured as always with having highest maximum-contrast for prime frame
Image is associated.However, this may be not always appropriate, because needing the faster response time.In specific situation
Lower user may find such angiogram and please oneself to system, although that is, in the angiogram not necessarily
With maximum-contrast, still corresponding ROI is visible enough.Therefore can be by setting as desired in identification step S406
Threshold value carrys out the response of regulating system.The threshold value setting used is it is also conceivable to screen M graph ability.
That is, during angiogram is gathered or all blood can acquired online or off-line execution methods described
Performed after pipe radiography.
In another one exemplary embodiment of the present invention, computer program or computer are provided in appropriate system
Program unit, the computer program or computer program element are characterised by, are adapted for carrying out according in previous embodiment
The method and step of the method for one.
Therefore computer program element can be stored on computer unit, and the computer unit can also be this hair
The part of bright embodiment.The step of computing unit may be adapted to perform process as described above is introduced to described above
The execution of the step of method.In addition, it may be adapted to the part for operating arrangement described above.Computing unit may be adapted to automatically
Run and/or be adapted for carrying out the order of user.Computer program can be loaded into the working storage of data processor.Cause
This can equip data processor in the method for performing the present invention.
The one exemplary embodiment covering of the present invention is from starting just using the computer program of the present invention and by means of more
The program that newly there will be is changed into using both computer programs of program of the present invention.
In addition, computer program element can provide the one exemplary embodiment for completing method as described above
Program all steps necessarys.
According to still another embodiment of the invention, it is proposed that such as CD-ROM computer-readable medium, wherein, it is described calculate
Machine computer-readable recording medium has the computer program element described by aforementioned paragraphs being stored thereon.
Computer program can be stored and/or be distributed on suitable medium, for example, provided together with other hardware
Or optical storage medium or solid state medium that the part as other hardware is provided, but it is also possible to be distributed otherwise,
For example via internet or other wired or wireless telecommunication systems.
However, computer program is also present on the network such as WWW, and can be by under such network
It is downloaded to the working storage of data processor.According to the yet another exemplary embodiment of the present invention, there is provided for making computer journey
Sequence unit can be used for the medium downloaded, and the computer program element is arranged to perform the reality of the invention of the description before
Apply the method for one in example.
It should be noted that with reference to different subject descriptions embodiments of the invention.Specifically, reference method type right
It is required that some embodiments are described, and reference unit type claim describes other embodiments.However, people in the art
Member will not sum up from the explanation of above and below, any combinations except belonging to the feature in same type of theme, and not
Any combinations between the related feature of same theme are also regarded as being included in the application, unless made other explanations.However,
All features can be provided in combination to more than the more synergies of simple addition than feature.
Although being described in detail in the description in accompanying drawing and above and describing the present invention, this explanation and description quilt
Be considered as it is illustrative or exemplary, it is and nonrestrictive.The invention is not restricted to the disclosed embodiments.Those skilled in the art are led to
Studying accompanying drawing, disclosure and claims are crossed, in the present invention that practice calls are protected, it is to be understood that and realize to institute
Other modifications of disclosed embodiment.
In detail in the claims, word " comprising " is not excluded for other elements or step, and word "a" or "an" is not
Exclude multiple.Single processor or other units can meet the function of some projects described in claim.Although mutual
What is differed has been recited in mutually different dependent certain measures, but this does not indicate that the group that these measures cannot be used to advantage
Close.Any reference in claim is all not necessarily to be construed as the limitation to scope.
Claims (14)
1. a kind of image processing apparatus (IP), including：
Input block (IU), it is used for the stream (A) of receiving frame, and the stream of the frame is the contrast agent propagation in a volume by feeling emerging
It is collected during interesting target, contrast volume is by multiple semi-cylindrical hills (ROIa-c) and as the contrast volume is passed
Broadcast and each corresponding area-of-interest in the multiple area-of-interest (ROIa-c) is irrigated by the target；
Registration unit (RU), it is configured as multiple frames being registrated to preoperative reference image data collection, the benchmark image
Collection includes and at least one corresponding segmentation in the area-of-interest (ROIa-c)；
Identifier (ID), its be configured as in the area-of-interest (ROIa-c) it is described at least one recognize in institute
The concentration for stating the contrast volume at least one area-of-interest (ROIa-c) place is collected when being higher than predefined threshold value
Prime frame；
Correlator (AS), its be configured as by the area-of-interest (ROIa-c) it is described at least one with the master that identifies
Frame is associated, and is consequently formed association ROI- frame data structures；And
Output unit (UIC), it is configured as generating user interface (UI) based on the association ROI- frame data structures, described
User interface allows at least one in the multiple area-of-interest (ROIa-c) of user's selection when being displayed on screen,
The output unit is selected to control the screen to show and the ROI at least one area-of-interest in response to described
Thus the associated prime frame of segmentation, the user interface provides the Time Navigation of the stream by the frame to the user.
2. device as claimed in claim 1, the identifier is configured as also recognizing before corresponding prime frame or it
At least one the other frame collected afterwards, the correlator is configured as the other frame and at least one described ROI
Segmentation is associated, and the data structure records the timeline of the contrast agent perfusion thus directed towards each ROI.
3. device as claimed in claim 2, the correlator is configured as that the radiography at least one described ROI will be shown
The local curve of the evolution of agent concentration is associated with least one described area-of-interest (ROIa-c), and the curve is based on the master
Image information in frame and other frame.
4. the device as described in any one of claim 1-3, wherein, the identifier is arranged to described at least one
The frame that the concentration of the contrast volume in individual area-of-interest (ROIa-c) is gathered when being its maximum is identified as described
Prime frame.
5. the device as described in any one of claim 1-3, the user interface generated includes and at least one described sense
At least one associated interactive button of interest region, the button is with instruction at least one area-of-interest (ROIa-
C) dissection title or the annotation of function, the button allow the user to realize at least one described area-of-interest
(ROIa-c) the selection.
6. device as claimed in claim 2, wherein, the user interface allows the user emerging with least one described sense
Switch over, or if formed between the associated prime frame of interesting region (ROIa-c) and at least one described other frame
Data structure (DS) include another area-of-interest (ROIb) among the area-of-interest (ROIa-c), then institute
State user interface allow the user with it is emerging from least one described area-of-interest (ROIa-c) and another described sense
Any one associated described prime frame in the selected works that can be defined by the user among interesting region (ROIb) and described other
Switched between frame.
7. the device as described in any one of claim 1-3, wherein, the stream is the target by x-ray imaging device
The sequence of the angiogram collected.
8. the device as described in any one of claim 1-3, wherein, the reference image data collection is the 3D of the target
CT or MR image volumes.
9. a kind of method of image procossing, comprises the following steps：
The stream of (S402) frame is received, the stream of the frame is collected when the contrast agent propagation of a volume is by interesting target
, contrast volume is by multiple semi-cylindrical hills (ROIa-c) and as the contrast volume propagates through the target
And irrigate each corresponding area-of-interest in the multiple area-of-interest (ROIa-c)；
By on multiple frames registering (S404) to preoperative reference image data collection, the reference image data collection include with it is described
At least one corresponding segmentation in multiple semi-cylindrical hills (ROIa-c)；
Recognize (S406) at least one described area-of-interest at least one described area-of-interest (ROIa-c)
(ROIa-c) concentration of the contrast volume at place is higher than the prime frame collected during predefined threshold value；
At least one described area-of-interest (ROIa-c) is associated with the prime frame identified (S408), it is consequently formed association
ROI- frame data structures；And
User interface (UI) is generated based on the association ROI- frame data structures, the user interface, which is worked as, to be displayed on screen
When allow user to select at least one described area-of-interest (ROIa-c), output unit controls described in response to the selection
Screen is to show the prime frame associated with selected area-of-interest (ROIa-c), and the user interface is thus to described
User provides the Time Navigation of the stream by the frame.
10. method as claimed in claim 9, wherein, include also recognizing the step of the identification before the prime frame or it
The step of other frame collected afterwards, association, is including by the other frame and at least one described area-of-interest
(ROIa-c) it is associated, the data structure records the radiography thus directed towards at least one described area-of-interest (ROIa-c)
The timeline of agent perfusion.
11. a kind of image processing system, including：
Device described in any one of claim 1-8 as the aforementioned；
The x-ray imaging device (100) of the stream (A) of the frame is provided；
Screen (M).
12. a kind of equipment of image procossing, including：
For the module of the stream of receiving frame, the stream of the frame is adopted when the contrast agent propagation of a volume is by interesting target
Collection, contrast volume is by multiple semi-cylindrical hills (ROIa-c) and as the contrast volume propagates through the mesh
Mark and irrigate each corresponding area-of-interest in the multiple area-of-interest (ROIa-c)；
For the module being registrated to multiple frames on preoperative reference image data collection, the reference image data collection include with
At least one corresponding segmentation in the multiple area-of-interest (ROIa-c)；
For being recognized at least one described area-of-interest (ROIa-c) at least one described area-of-interest
(ROIa-c) concentration of the contrast volume at place is higher than the module of the prime frame collected during predefined threshold value；
For at least one described area-of-interest (ROIa-c) is associated with the prime frame identified, association ROI- is consequently formed
The module of frame data structure；And
For generating user interface (UI) module based on the association ROI- frame data structures, the user interface is worked as and shown
User is allowed to select at least one described area-of-interest (ROIa-c) when showing on screen, output unit is in response to the selection
To control the screen to show the prime frame associated with selected area-of-interest (ROIa-c), the user interface
Thus the Time Navigation of stream by the frame is provided to the user.
13. equipment as claimed in claim 12, wherein, the module for identification includes being used to also recognize in the prime frame
Before or after the module of other frame that collects, the module for association includes being used for the other frame and institute
The associated module of at least one area-of-interest (ROIa-c) is stated, the data structure is emerging thus directed towards at least one described sense
Interesting region (ROIa-c) records the timeline of the contrast agent perfusion.
14. a kind of be stored thereon with the computer-readable medium of program unit, described program unit is used to control right such as will
The device described in any one of 1-8 is sought, wherein, described program unit is adapted for carrying out right such as when being performed by processing unit will
The step of seeking the method described in 9-10.
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| PCT/IB2013/054733 WO2013190422A1 (en) | 2012-06-22 | 2013-06-10 | Temporal anatomical target tagging in angiograms |
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| CN104379062A CN104379062A (en) | 2015-02-25 |
| CN104379062B true CN104379062B (en) | 2017-10-31 |
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| EP (1) | EP2863799B1 (en) |
| JP (1) | JP6214646B2 (en) |
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| RU (1) | RU2015101806A (en) |
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| CN104519798B (en) * | 2012-08-03 | 2018-03-23 | 皇家飞利浦有限公司 | The superposition for the device location dependence drawn for route |
| EP3253420A4 (en) | 2015-02-02 | 2018-10-10 | Novadaq Technologies ULC | Methods and systems for characterizing tissue of a subject |
| WO2017051229A1 (en) * | 2015-09-23 | 2017-03-30 | Novadaq Technologies Inc. | Methods and systems for management of data derived from medical imaging |
| CN108633312B (en) * | 2015-11-18 | 2022-11-08 | 光学实验室成像公司 | Contrast cloud detection method in X-ray image |
| KR102420386B1 (en) | 2016-06-30 | 2022-07-13 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Graphical user interface for displaying guidance information in multiple modes during video-guided procedures |
| US11819284B2 (en) | 2016-06-30 | 2023-11-21 | Intuitive Surgical Operations, Inc. | Graphical user interface for displaying guidance information during an image-guided procedure |
| CA3021481A1 (en) | 2016-07-29 | 2018-02-01 | Novadaq Technologies ULC | Methods and systems for characterizing tissue of a subject utilizing machine learning |
| JP2020518326A (en) * | 2017-04-18 | 2020-06-25 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Graphical user interface for monitoring image-guided procedures |
| WO2019094653A1 (en) * | 2017-11-09 | 2019-05-16 | Case Western Reserve University | Scatter labeled imaging of microvasculature in excised tissue (slime) |
| JPWO2019203312A1 (en) | 2018-04-18 | 2021-04-22 | 株式会社ニコン | Image processing methods, programs, and image processing equipment |
| US20190328361A1 (en) * | 2018-04-27 | 2019-10-31 | General Electric Company | Ultrasound imaging system and method |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20150206308A1 (en) | 2015-07-23 |
| EP2863799B1 (en) | 2018-08-15 |
| JP6214646B2 (en) | 2017-10-18 |
| EP2863799A1 (en) | 2015-04-29 |
| CN104379062A (en) | 2015-02-25 |
| US9600885B2 (en) | 2017-03-21 |
| RU2015101806A (en) | 2016-08-10 |
| WO2013190422A1 (en) | 2013-12-27 |
| JP2015519987A (en) | 2015-07-16 |
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